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ci: don't run `security_audit` workflow on PRs #5304

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Job	Run time
Clippy	2m 40s
Build	1m 39s
Check	1m 18s
Doc	1m 7s
Format	16s
Run (x86_64, dev)	41m 58s
Test	1m 18s
Run (x86_64, release)	17m 31s
Typos	6s
Run (aarch64, dev)	7m 12s
Run (aarch64, release)	6m 47s
Run (riscv64, dev)	4m 33s
Run (riscv64, release)	3m 30s
	1h 29m 55s